Robot Motion Stack

This repository is consists of most of the motion primitives needed for motion generation in real-time. Main components are:

• Robot Models - Models of different robots expressed with orocos-kdl
• Robot Interface - Robot interface for gazebo and real. Abstract class and it's derivatives
• Robot Control - P2P motion generation, Spline generation
• Modern Robotics - ROS wrapper for ModernRoboticsCpp
• IK solvers - Differential Kinematic Solvers for generation of inverse kinematic solutions using Exponential Product formulation.

How to use

• Robot interface is defined in robot_interface/include/robot_interface.hpp with following attributes. robot_interface/src/robot_class.cpp and robot_interface/src/robot_interface_sim.cpp are the implementations of the interface for real and simulation. Currently, kuka_msgs are used specific to serial robots.

• For motion generation, robot_control/scripts/KUKA_TESTS.cpp is an example for the sequential implementation and is commented. The motion sequence is as follows:

  • Given the current position of the current configuration, move the robot to the desired starting configuration.
  • Given the desired way-points, spline to generate continuous motion and command around ~200Hz.

• Force control with admittance control - robot_interface/include/robot_interface_force_control.hpp is the interface for force control equipped with a ATI F/T sensor. The netft_utils is used to read force/torque data. TODO: An example implementation